Tactile sensors are among the most important devices used in industrial and biomedical fields. Sensors’ profiles are significantly affected by their structures and material used. This article presents a robust, low-cost, low noise, accurate and simple fabrication capacitive tactile sensor as a single taxel fabricated on foam. This highly scalable design provides excellent noise immunity, accuracy, and due to a unique printable elastic conductor, it is flexible and stretchable with more than 200% strain. Furthermore, the taxel is based on the capacitive Wheatstone bridge. As a result, noise immunity and stability in case of temperature fluctuation is accomplished. Additionally, the sensor’s innovative, simple fabrication, made of Polyurethane foam and printable elastic conductor, allows the system to adapt and achieve relevant results necessary for the purpose of the sensor’s application. Therefore, the proposed sensor has potential applications in industrial and biomedical contexts, such as sleep monitoring, etc.